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In this paper, an stereo-based traversability analysis approach for allterrains in off-road mobile robotics, e.g. Unmanned Ground Vehicles (UGVs) isproposed. This approach reformulates the problem of terrain traversabilityanalysis into two main problems: (1) 3D terrain reconstruction and (2) terrainall surfaces detection and analysis. The proposed approach is using stereocamera for perception and 3D reconstruction of the terrain. In order to detectall the existing surfaces in the 3D reconstructed terrain as superpixelsurfaces (i.e. segments), an image segmentation technique is applied usinggeometry-based features (pixel-based surface normals). Having detected all thesurfaces, Superpixel Surface Traversability Analysis approach (SSTA) is appliedon all of the detected surfaces (superpixel segments) in order to classify thembased on their traversability index. The proposed SSTA approach is based on:(1) Superpixel surface normal and plane estimation, (2) Traversability analysisusing superpixel surface planes. Having analyzed all the superpixel surfacesbased on their traversability, these surfaces are finally classified into fivemain categories as following: traversable, semi-traversable, non-traversable,unknown and undecided.

Stereo-based terrain traversability analysis using normal-based segmentation and superpixel surface analysis